def get_heightmap(self, obs, configs):
"""Reconstruct orthographic heightmaps with segmentation masks."""
heightmaps, colormaps = utils.reconstruct_heightmaps(
obs['color'], obs['depth'], configs, self.bounds, self.pixel_size)
colormaps = np.float32(colormaps)
heightmaps = np.float32(heightmaps)
# Fuse maps from different views.
valid = np.sum(colormaps, axis=3) > 0
repeat = np.sum(valid, axis=0)
repeat[repeat == 0] = 1
colormap = np.sum(colormaps, axis=0) / repeat[Ellipsis, None]
colormap = np.uint8(np.round(colormap))
heightmap = np.max(heightmaps, axis=0)
return colormap, heightmap
def get_true_image(self, env):
"""Get RGB-D orthographic heightmaps and segmentation masks."""
# Capture near-orthographic RGB-D images and segmentation masks.
color, depth, segm = env.render_camera(self.oracle_cams[0])
# Combine color with masks for faster processing.
color = np.concatenate((color, segm[Ellipsis, None]), axis=2)
# Reconstruct real orthographic projection from point clouds.
hmaps, cmaps = utils.reconstruct_heightmaps(
[color], [depth], self.oracle_cams, self.bounds, self.pix_size)
# Split color back into color and masks.
cmap = np.uint8(cmaps)[0, Ellipsis, :3]
hmap = np.float32(hmaps)[0, Ellipsis]
mask = np.int32(cmaps)[0, Ellipsis, 3:].squeeze()
return cmap, hmap, mask